CN100381959C - Modularization built-in digital control system - Google Patents
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- CN100381959C CN100381959C CNB2004101010312A CN200410101031A CN100381959C CN 100381959 C CN100381959 C CN 100381959C CN B2004101010312 A CNB2004101010312 A CN B2004101010312A CN 200410101031 A CN200410101031 A CN 200410101031A CN 100381959 C CN100381959 C CN 100381959C
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Abstract
The present invention discloses a modularization built-in digital control system device which comprises a standard PLC input/output interface module and an external interface connected with external equipment. The present invention is characterized in that the present invention also comprises a CPU management control module of an inner solidified modularization restructurable built-in digital control operating system software library, a drive control module of a first shaft, a second shaft or a fourth shaft of a drive control software library of inner solidified modularization built-in first shaft, second shaft or fourth shaft, a PLC management control module of an inner solidified modularization built-in PLC control software library, and a software package for realizing the management control of digital control inner serial network buses and multiple channels (paths) among the modules. The system uses the techniques of digital control inner CAN serial network buses and digital control multiple channels, and a modularization digital control hardware control module. Thus, the digital control system can obtain modularization combination according to users' requirements. The present invention has the advantages of high efficiency, high precision and high cost performance ratio and is suitable for being used in various kinds of digital control equipment in equipment manufacturing industry.
Description
Technical field
The present invention relates to the digital control system of numerically-controlled machine, relate in particular to a kind of modularization built-in digital control system device that is applicable to the multiaxis hyperchannel control of multi-functional Compound Machining numerically-controlled machine.
Background technology
As everyone knows, digital control system is a kind of dedicated location control device that is applicable to the numerically-controlled machine industry, mainly comprises main frame, and drive controlling and PLC control 3 major parts, must have the numerical control of execution instruction, realizes the function that position control and machining locus are handled.Digital control system is the control device of software and hardware fixed sturcture, can't simple realization combination control.
The present digital control system on the home market comprises embeddedly, and open and network type digital control system mainly connects 1 group of numerical control host module by parallel or universal serial bus, and 1 group of numerical control driver module and 1 group of PLC control module constitute.The numerical control host module is a kind of process data input that can finish 1 group of drive controlling, and process data is handled, the whole control structure of machining locus processing and data communication.The numerical control driver module is only finished feeding control.The operation control software of digital control system is then for carrying out the integral structure that 1 group of numerical control instruction code realizes that machining locus is handled.This integral structure makes management system and drive system can't become separately independently module, thereby can not realize hyperchannel control.Trace it to its cause, nothing more than 3 points: one, can only manage 1 group of numerical control driver module and 1 group of PLC control module; Its two, carry out nc program by the numerical control host module and handle, its programming system is to comprise that process data is handled and the integrated software configuration of machining locus processing, and then makes the numerical control driver module lose independently numerical control processing capacity; Its three, do not have hyperchannel control and management function.
The international hyperchannel digital control system that is used for Compound Machining mainly connects 1 group of numerical control host module by parallel or universal serial bus, 2-4 group numerical control driver module, and 1 group of PLC control module constitutes.The numerical control host module is finished the process data input of 2-4 group drive controlling, and process data is handled, and machining locus is handled, data communication, hyperchannel control and management.The numerical control driver module is only finished feeding control.Digital control system operation control software carry out 2-4 group numerical control instruction code to realize that machining locus is handled integrated, corresponding management system and drive system then can't become separately independently module.Above-mentioned hyperchannel digital control system only can realize the control of the Compound Machining numerically-controlled machine of fixed sturcture, is only applicable to the Compound Machining numerically-controlled machine of the fixed sturcture of a routing and certain number of axle, can't realize the independent assortment of numerical control driver module.For different compounding machine products, must revise relevant hardware and relative Control Software.Trace it to its cause then is that (1) has only 1 group of PLC control module; (2) the numerical control host module is carried out the processing of whole nc programs, comprises the integrated software configuration that process data is handled and machining locus is handled, and the numerical control driver module is only realized feeding control.Be published in " based on the open network Study on numerical control (NC) system of CAN bus " of electromechanical engineering on 2000 the 17th the 3rd phases of volume by Wang Zhenhua etc. and just disclose a kind of like this scheme.In the literary composition Fig. 5 showed is exactly to have only one group of numerical control host module (IPCI is controlled machine), one group of numerical control driver module (motion control board) and one group of PLC control module (PLC plate).Should be exactly the digital control system of single channel architecture based on the open network digital control system of CAN bus.So-called passage has clear and definite definition in fields of numeric control technique, and the numerical control passage means the control path of digital control system, and each passage is only to carry out the control action of a complete numerically-controlled machine.So-called numerical control drives passage, means that this numerical control drives one group of numerical control driver module of passage may command, finishes one group of numerical control instruction code, realizes machining locus processing action and/or a complete digital control processing operation; So-called PLC control channel means one group of PLC control module of this passage may command, finishes a complete sequence logical control works fine actuation cycle.
The Compound Machining numerically-controlled machine does not have certain structure restriction, and the structure of digital control system is also essential factor machine tool structure and different naturally.1 Compound Machining numerically-controlled machine can be the module of module, 1 passage 3 milling machine machining functions module and/or 1 passage, 3 axis robot functions with 1 passage, 2 shaft lathe machining functions, constitute a kind of automatic loading/unloading turnning and milling composite processing machine tool by these three kinds of modules, needed the digital control system of 8 in configuration 3 passages; And 1 Compound Machining numerically-controlled machine also can be to be made of the module of 3 passages, 2 shaft lathe machining functions and the module of 1 passage, 3 axis robot functions, is called automatic loading/unloading rip cutting composite processing machine tool, needs the digital control system of 5 in configuration 4 passages; And 1 Compound Machining numerically-controlled machine also can be to be made of the module of 2 passages, 2 shaft vertical machined into functions and the module of 1 passage, 1 travelling wheelhead roll grinder machining functions, is called just inverted lathing and grinding combined machining machine tool, needs the digital control system of 3 in configuration 3 passages.In fact the Compound Machining numerically-controlled machine of each manufacturer production all is to require to carry out different configurations at different processing works, and restriction one fixed structure of the hyperchannel digital control system of import at present, certain number of axle, certain port number, except a few users is suitable for, to most users all is inapplicable, and price is very expensive.Domestic when satisfying the needs of different specific function Compound Machining numerically-controlled machines, even simple 2 passage Compound Machining numerically-controlled machines also have to adopt the digital control system of many difference in functionalitys to satisfy the needs of each passage.The integrated mode of and numerical control instruction process integrated under the pressure of the main frame of digital control system, promptly finish input, editor, the compiling of process data, the processing of process data and the processing mode of machining locus of numerical control instruction code by the numerical control host module, the manufacturer of digital control system have to have to take the second best, then the function of qualification digital control system, go to develop the digital control system that is exclusively used in 2 shaft lathes, 3 milling machine digital control systems, 3 travelling wheelhead roll grinder digital control systems, the digital control system of 3 punch press digital control systems and/or 5 difference in functionalitys such as machining center digital control system.Obviously, this is a kind of shiring the heavy work aning choose the light, the practice that attends to the trivialities and neglect the fundamentals.Even the domestic 5 axis linkage numerical control systems that realized owing to can only carry out the manufacturing procedure of 1 group of numerical control instruction in the unit interval, also can't realize multichannel Compound Machining at present.So in the Compound Machining numerically-controlled machine industry in future, but adopt the hyperchannel digital control system of independent assortment imperative.
Summary of the invention
Proposition of the present invention, be intended to change digital control system the digital control processing data processing integrated software configuration and adopt restructural embedded type control module structure, in each control module inside solidification of digital control system control system independently, make the numerical control driver module have independently digital control processing data management control function, by inner serial network bus of numerical control and numerical control hyperchannel management Control Software Package, realize hyperchannel numerical control drive controlling and hyperchannel PLC control.
Technical solution of the present invention is achieved in that
A kind of modularization built-in digital control system device, the CAN serial network bus and the whole external interfaces that are connected with external unit that comprise numerical control inside, it is characterized in that this digital control system device CUP management control module of the embedded numerical control operating system software library of hyperchannel modular reconfigurable that also comprised inside solidification, 1 of inside solidification hyperchannel modular insert numerical control driving control system software library, 2 or 4 drive control modules with inside solidification PLC management control module and each intermodule in hyperchannel modular insert PLC management control software storehouse realize inner serial network bus of numerical control and the hyperchannel management Control Software Package that network is connected, the PLC that realizes the numerical control driven management control of maximum 100 passages and maximum 10 passages manages and controls.
Technical solution of the present invention also comprises:
The CPU management control module of described inside solidification modular insert restructural numerical control operating system software library is made up of the PLC input/output interface module of ARM CPU master control borad and standard, ARM CPU has gathered the external interface that is necessary in inside, has also increased CAN serial network bus interface.
Described inside solidification modular insert restructural numerical control operating system software library comprises that system shows, keyboard management, the basic operational functions of digital control systems such as file editor and mode management.
Described inside solidification modular insert restructural numerical control operating system software library also comprises numerical control hyperchannel (path) management control function storehouse, can realize the management and the control of 1-110 passage.Can realize the driven management control of maximum 100 passages and the PLC management control of maximum 10 passages.
Technical solution of the present invention also comprises:
1,2 of 1,2 of described inside solidification modular inserts or 4 drive control software storehouse or 4 driver module is by ARM CPU, CAN network interface and 1,2 or 4 special-purpose motion control chips formations, can realize 1,2 or 4 whole actions that drive the feeding pulse automatically, as automatic deceleration, positioning control, control function such as pulse feedback counting, and have the control function of the relevant I/O of servo-driver and realize multiaxis straight line/circular interpolation and interlock function automatically.
1,2 of described inside solidification modular inserts or 4 drive control software storehouse also comprises:
(1) can realize numerical control hyperchannel (path) the management control software bag that the hyperchannel management is controlled.The configuration driven passage can be selected according to user's needs by system, and maximum can dispose 100 and drive passage;
(2) the separate CPU management system of driver module, this system can realize the servocontrol of driver module;
(3) each passage is independently finished the feeding control of 4 servo driving, and 3 straight line/circular interpolations and 4 interlock controls.
Technical solution of the present invention also comprises:
The PLC management control module in described inside solidification modular insert PLC Control Software storehouse is by ARM CPU, FPGA (Field Programmable Gate Array) control chip CPLD, CAN network interface and one group of standard PLC input/output interface module are formed, bus interface is started in inside by the PLC management control module, and maximum can connect 16 standard PLC input/output modules.
Described inside solidification modular insert PLC Control Software storehouse comprises:
(1) can realize numerical control hyperchannel (path) the management control software bag that the hyperchannel management is controlled.Configuration PLC control channel can be selected according to user's needs by system, and maximum can dispose 10 PLC control channels;
(2) can realize PLC input/output interface module management function library by the inner parallel bus control of PLC control module.Each passage of system can be selected maximum 16 the PLC input/output interface modules of configuration according to user's needs;
(3) the separate CPU management system of the I/O control of PLC is independently finished in realization by the PLC control module;
(4) the embedded standard PLC code compile of PLC control module inside solidification Control Software function library.
Compared with prior art, change the integrated software configuration of the digital control processing data processing of digital control system, adopt restructural embedded type control module structure, in each control module inside solidification of digital control system control system independently, the numerical control driver module has independently digital control processing data management control function, realized that each numerical control drives 3 interpolations that passage can independently carry out digital control processing, 4 interlocks, by inner serial network bus of numerical control and numerical control hyperchannel management Control Software Package, realize the hyperchannel numerical control drive controlling and the hyperchannel PLC control of the structure capable of being combined of multiaxis hyperchannel Compound Machining numerically-controlled machine.Can be according to customer requirements, in the performance history of new product, only revise the software section of numerical control operating system, need not carry out hardware design and debugging again, thereby significantly reduced the cost of development of hyperchannel digital control system new product, significantly shorten the R﹠D cycle, finish the digital control system Products Development of the multichannel various numerical control devices of multiaxis at short notice.System also has high-level efficiency, and the characteristics of high precision and high reliability are applied widely, and the cost performance height is applicable in the various numerical control devices of device fabrication industry.
Description of drawings
The basic structure theory diagram of the numerical control module of Fig. 1 modularization built-in digital control system.
The CPU management control module principle of work block diagram of Fig. 2 modularization built-in digital control system.
1 axle gauge lattice numerical control driver module principle of work block diagram of Fig. 3 modularization built-in digital control system.
2 axle gauge lattice numerical control driver module principle of work block diagrams of Fig. 4 modularization built-in digital control system.
4 axle gauge lattice numerical control driver module principle of work block diagrams of Fig. 5 modularization built-in digital control system.
The PLC control module principle of work block diagram of Fig. 6 modularization built-in digital control system.
The PLC input/output interface cell operation theory diagram of Fig. 7 modularization built-in digital control system.
The hyperchannel modular insert software library FB(flow block) of Fig. 8 modularization built-in digital control system.
Fig. 1 is a specification digest accompanying drawing of the present invention.
Embodiment
A kind of modularization built-in digital control system shown in Fig. 1～8, be to constitute by modular reconfigurable embedded numerical control software storehouse and numerical control hardware controls module, by the inner serial network bus of numerical control and numerical control hyperchannel (path) management control function storehouse and database, realize hyperchannel drive controlling and hyperchannel PLC control.
1. the embedded numerical control software of modular reconfigurable storehouse
The embedded numerical control software of the modular reconfigurable of modularization built-in digital control system storehouse is made of the modular numerically controlled function library and the numerically controlled data storehouse of feature richness.By initial setting to the booting operating system program, can be according to the relevant numerical control software function library of needs guiding link of product.Modularization built-in digital control system has the characteristics of stronger opening, can append the power function storehouse of user's appointment according to user's requirement, finishes the software development of all kinds of general and specialized equipment digital control systems at short notice.This numerical control software storehouse comprises:
(1) the embedded numerical control operating of modular reconfigurable system (the independently numerical control operating system of CPU management control module inside solidification).
(2) modular insert numerical control drive system (the independently numerical control drive system of drive control module inside solidification).
(3) modular insert PLC control system (the independently PLC control system of PLC control module inside solidification).
2. numerical control hardware controls module
The numerical control hardware controls module application ARM of modularization built-in digital control system, DSP and CPLD modern control technology and network communications technology, adopt the control of CPU more than 32,32 ARM CPU processor inside have the parallel processing function of three class pipeline control, and the computing frequency reaches 75-200M.Adopt many CPU control technology, each module can both be had independently manage control function, realize the multiaxis hyperchannel position control of high-speed, high precision.
Numerical control hardware controls module is made of three kinds of standard industry product mix modules:
(1) CPU management control module (can be used for host CPU management control module and PLC control module);
(2) numerical control driver module (driver module that contains 1,2 or 43 kinds of specifications);
(3) PLC input/output interface module (input: 56 point/outputs: 32 points).
Adopt above three kinds of standard industry product modules (5 specification products), can realize the modular combination of various digital control systems, satisfy the hardware controls requirement of the various general and specialized equipment digital control system of 1-multiaxis substantially.
(1) CPU management control module
The numerical control host module adopts 32 ARM cpu motherboards, modular system display interface device, system's keyboard interface, system's control bus.The compatible LCD of display interface device drives and CRT drives, and the LCD of plurality of specifications such as support 240 * 160,320 * 240,640 * 480,800 * 600,1024 * 768 shows and the screen displaying operation.The numerical control host module is furnished with standard USB interface and standard ethernet interface, realizes the network communication of modern production, and the message exchange between the user can be provided.Adopt USB flash disk memory technology and the embedded numerical control operating system software library of built-in module restructural in the digital control system.
(2) numerical control driver module
The configuration of numerical control driver module is 32 ARM CPU controls independently, adopt special-purpose motion control chip.Can realize high-speed high-precision Full Closed-loop Position control and linear interpolation and circular interpolation automatically, actuating speed can reach 4000KPPS feeding pulse output.Can realize the control of 240 meters/minute speed of feed.Be furnished with main shaft control output interface, spindle speed feedback interface and hand pulse producer input interface can be realized the main shaft synchronization control function.
The numerical control driver module comprises the standardized product numerical control driver module of 1,2 or 43 kinds of specifications; The embedded drive control software of built-in moduleization storehouse; The numerical control driver module can independently be finished 3 interpolations and 4 interlocks.
(3) PLC control module
The PLC control module adopts independently 32 ARM CPU controls, and built-in module Embedded PLC Control Software storehouse has independent standard PLC control function.Can finish the compiling of PLC program and the independent control of the whole implementations of PLC automatically.
Modularization built-in digital control system can dispose 10 PLC control channels at most by the inner serial network bus of numerical control, and each PLC control module is 1 an independently PLC control channel.Each independently PLC control channel have independently PLC control function.
Can dispose maximum 16 PLC IO interface unit on the parallel control bus of each PLC control module inside.56 input points and 32 output points are arranged on each PLC IO interface unit.Can realize the standard PLC control of maximum 896 inputs (1 * 16 * 56) and 512 outputs (1 * 16 * 56).
Adopt composite module chemical control system technical pattern, modularization built-in digital control system can be according to user's the common apparatus and the specific requirement configuration PLC control module and the PLC input/output interface unit of specialized equipment.Can realize the standard PLC control of maximum 8960 inputs (10 * 16 * 56) and 5120 outputs (10 * 16 * 32).
3. the inner serial network bus of numerical control
The numerical control hardware controls module of modularization built-in digital control system has independently manages control function, adopt the inner serial network bus of numerical control, reduced the internal system distribution widely, improve the noiseproof feature of digital control system effectively, realized the multinode Communication Control of modularization built-in digital control system.
The inner serial network bus of numerical control adopts CAN serial network bus, and the standard CAN network communication protocol can be realized greater than the network control of 110 nodes and management.Support the numerical control hyperchannel management Control Software Package that is used for the inner serial network bus management of numerical control of standard CAN network communication protocol, can realize the driven management control of maximum 100 passages and the PLC management control of maximum 10 passages.
4. hyperchannel is managed the core control technology
The numerical control hardware controls module of modularization built-in digital control system has independently manages control function, use the numerical control hyperchannel management Control Software Package of hyperchannel management core control technology, comprise hyperchannel control and management function library, hyperchannel numerical control driver module database, hyperchannel PLC control module database and hyperchannel numerical control instruction database, can select the configuration numerical control to drive passage and PLC control channel according to user's needs, realize the control and management of maximum 100 drive passages and maximum 10 independent PLC control channels, each drives 3 interpolations that passage can independently carry out digital control processing, 4 interlocks drive the interlock control that passage can be realized whole driving shafts; Each PLC control channel can be finished PLC control independently.
Claims (7)
1. modularization built-in digital control system device, the CAN serial network bus and the external interface that is connected with external unit that comprise numerical control inside, it is characterized in that also including inside solidification the CPU management control module of the embedded numerical control operating system software library of hyperchannel restructural, inside solidification 1 of hyperchannel modular insert numerical control driving control system software library, 2 or 4 drive control module with inside solidification PLC management control module and aforementioned each intermodule of hyperchannel modular insert PLC control system software library realize inner serial network bus of numerical control and the numerical control hyperchannel management Control Software Package that network is connected, the PLC that realizes the numerical control driven management control of maximum 100 passages and maximum 10 passages manages and controls.
2. modularization built-in digital control system device according to claim 1, it is characterized in that described CPU management control module, form by ARM CPU master control borad and CAN serial network bus interface, the embedded numerical control operating system software library of its inside solidification modular reconfigurable comprises that system shows, the keyboard management, the basic operational functions of numerical controls such as file editor and mode management.
3. modularization built-in digital control system device according to claim 2, the embedded numerical control operating of the hyperchannel restructural system that it is characterized in that described CPU management control module inside solidification, also comprise the numerical control hyperchannel management Control Software Package that is used for the inner serial network bus management of numerical control, can select the configuration numerical control to drive passage and PLC control channel according to user's needs, carry out maximum 100 numerical controls and drive passage and maximum 10 PLC control channels.
4. modularization built-in digital control system device according to claim 3,1 of hyperchannel modular insert numerical control driving control system software library that it is characterized in that described inside solidification, 2 or 4 drive control module, by ARM CPU, CAN serial network bus interface and 1, the independently numerical control driving control system that 2 or 4 special-purpose motion control chip MCX or DSP form, can realize whole actions of driver module, and control function with the relevant I/O of servo-driver, and each passage is independently finished 1 drive controlling, 2 interpolations, 2 interlock controls or 3 interpolations, the repertoire of 4 linkage driving controls.
5. modularization built-in digital control system device according to claim 4, it is characterized in that described 1,2 or 4 drive control module, the hyperchannel modular insert numerical control driving control system of inside solidification, also comprise the numerical control hyperchannel management Control Software Package that is used for the inner serial network bus management of numerical control, comprise that numerical control drives channel management control function storehouse and hyperchannel node administration control function storehouse, realize that maximum 100 numerical controls drive the independent control of passage.
6. modularization built-in digital control system device according to claim 5, the PLC control module of hyperchannel modular insert PLC control system that it is characterized in that described inside solidification, by ARM CPU, CPLD, CAN serial network bus interface and 16 PLC IO interface unit constitute, comprise PLC code compile Control Software function library and PLC input/output interface module management function library, realize the PLC I/O control of independently finishing by the PLC control module.
7. modularization built-in digital control system device according to claim 6, the hyperchannel modular insert PLC control system that it is characterized in that described PLC control module inside solidification, also comprise the numerical control hyperchannel management Control Software Package that can realize hyperchannel management control, realize the independent control of maximum 10 PLC control channels.
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| CN100424603C (en) * | 2006-05-25 | 2008-10-08 | 天津大学 | Modularized reconfigurable networked digital control system in open type |
| CN101537567B (en) * | 2009-04-28 | 2011-11-16 | 同济大学 | Modulization-based method for designing reconfigurable machine tool |
| CN102749883A (en) * | 2011-04-21 | 2012-10-24 | 武汉奥特先锋数控技术有限公司 | Control system for numerical control cutting machine |
| CN103809523B (en) * | 2012-11-08 | 2016-08-17 | 北京计算机技术及应用研究所 | Multi-channel digital control system and multi-way contral method thereof |
| CN103034171B (en) * | 2012-12-18 | 2016-01-20 | 南京泽宣自动化工程技术有限公司 | The kinetic control system of open type flexible digital control system |
| CN103294008B (en) * | 2013-06-19 | 2015-10-28 | 广州数控信息科技有限公司 | Single channel and multichannel method for handover control in a kind of digital control system |
| CN106681279A (en) * | 2015-11-05 | 2017-05-17 | 中国科学院沈阳计算技术研究所有限公司 | Numerical control system based on multisystem control and realization method thereof |
| CN106707965A (en) * | 2015-11-18 | 2017-05-24 | 宁波弘讯科技股份有限公司 | Robot control system and robot control method |
| JP6396276B2 (en) * | 2015-11-19 | 2018-09-26 | ファナック株式会社 | Numerical control device with improved servo control performance |
| CN106802633A (en) * | 2015-11-26 | 2017-06-06 | 珠海市研泰电子科技有限公司 | A kind of complex milling machine tool digital control system |
| CN114609974A (en) * | 2020-12-07 | 2022-06-10 | 山东新松工业软件研究院股份有限公司 | Open type multi-axis linkage numerical control system and method |
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